Automatic sorting and arranging device and method for feathers

Abstract

The application relates to the field of shuttlecock production equipment, and particularly discloses an automatic shuttlecock sorting and arranging device and method, which comprises a lifting and scattering mechanism, a main conveying belt, a visual recognition unit, a PLC controller, three groups of Y-axis movement modules, a buffer belt group and a discharging belt, and corresponding processes of lifting and scattering, visual recognition, tracking and grabbing and buffer discharging. The device separates and uniformly lays and conveys the scattered shuttlecock to the main conveying belt through the lifting and scattering mechanism, the visual recognition unit collects and recognizes the feather layer type, posture and position of the shuttlecock, the PLC controls the Y-axis movement module to track and grab the shuttlecock, and then the buffer belt group orderly discharges the shuttlecock according to the rhythm. The application combines intelligent visual technology and automatic control, can replace manual work to complete shuttlecock sorting, effectively improves the operation efficiency and accuracy, and reduces the labor cost of enterprises.

Description

Technical Field

[0001] This invention relates to the field of badminton production equipment technology, specifically to an automatic feather sorting and processing device and method. Background Technology

[0002] In the production process of badminton shuttlecocks, feather sorting is one of the core processes in the front-end raw material processing. The raw feathers need to be classified and sorted according to different types and shapes such as round feathers, square feathers, left feathers, and right feathers. The accuracy and efficiency of sorting directly affect the quality of the finished products and the overall production capacity of the shuttlecocks made later.

[0003] In the early stages, the industry generally adopted a manual sorting model, where workers would pick out the qualified feathers one by one from piles of scattered feathers and place them into the corresponding loading stations. Under this model, the sorting work was monotonous and repetitive, with a fast pace and long single work sessions, which easily led to visual and physical fatigue for the workers. Not only did the sorting accuracy decrease with the increase in working hours, but the industry also faced long-term problems of difficulty in recruiting workers and high staff turnover. At the same time, manual sorting relied on the experience and judgment of the workers, making it difficult to standardize sorting standards, resulting in poor product consistency. In addition, the large number of manual positions continuously drove up the labor costs of enterprises, indirectly raising the market price of end products. This model was difficult to adapt to the industry's development needs for large-scale and low-cost production. Badminton manufacturers generally had an urgent need to replace manual sorting with automated equipment.

[0004] To address the pain points of manual sorting, alternative solutions combining robots and visual inspection have emerged in the market. However, these solutions have several limitations in practical applications. On the one hand, commonly used SCARA robotic arm solutions require large space and have high safety requirements, posing certain operational safety risks. On the other hand, their visual recognition algorithms lack adaptability to feather stacking, deflection, and different postures, resulting in limited recognition accuracy and positioning precision, directly leading to a low success rate in grasping and limiting overall operational efficiency. Furthermore, the debugging and calibration processes for these devices are complex and have a high operational threshold, making it difficult for ordinary frontline workers to quickly master them. Recalibration when changing feather types or batches is time-consuming, further affecting the actual utilization rate of the equipment and preventing its effective promotion and application in the industry.

[0005] Therefore, there is an urgent need for an automatic feather sorting and processing device and method that can take into account safety, efficiency, accuracy and ease of use, overcome the shortcomings of existing technologies, truly realize machine replacement of human labor, and meet the automated sorting needs of the badminton production industry. Summary of the Invention

[0006] To address the aforementioned problems in the prior art, this invention provides an automatic feather sorting and sorting device and method to solve the problems of high cost and low efficiency of manual sorting, as well as low accuracy and poor usability of existing solutions, thereby achieving efficient and accurate automated sorting of feathers.

[0007] To achieve the above objectives, the present invention provides an automatic feather sorting and processing device, comprising: Main conveyor belt; The lifting and dispersing mechanism has its discharge end located at the feed end of the main conveyor belt, which is used to separate the scattered feathers and evenly convey them to the main conveyor belt. The visual recognition unit includes an industrial camera, a light source, and a visual processing module. The industrial camera and the light source are mounted above the main conveyor belt via a camera-light source bracket. The visual processing module is communicatively connected to the industrial camera and is used to acquire feather images and identify the type, posture, and position information of the feathers. The PLC controller is electrically connected to the lifting and dispersing mechanism, the vision processing module, the Y-axis motion module, the buffer belt group, and the unloading belt, respectively. Three sets of Y-axis motion modules are arranged sequentially on the side of the main conveyor belt along the conveying direction of the main conveyor belt; The buffer belt assembly includes three buffer belts, with the feed ends of the three buffer belts corresponding to the feeding positions of the three sets of Y-axis motion modules, respectively. The feeding belt has its inlet end corresponding to the outlet end of the three buffer belts, and is used to receive the feathers output by the buffer belts and transport them outward.

[0008] Preferably, the lifting and dispersing mechanism includes a lifting bucket, a lifting belt, a lifting brush, a lifting unloading brush, and a lifting unloading bucket; The elevator belt is arranged at an incline, the elevator hopper is located at the lower end of the elevator belt on the feeding side, and the elevator feeding brush is located at the upper part of the elevator belt to block excessive feathers. The elevator discharge brush is located on the upper discharge side of the elevator belt, the elevator discharge bucket is located on the lower discharge side of the elevator belt, and the outlet of the elevator discharge bucket corresponds to the feed end of the main conveyor belt.

[0009] Preferably, each Y-axis motion module includes a Y-axis motor, a Z-axis motor, and A rotary motor and grippers are used to track and grab feathers on the main conveyor belt; the Y-axis motor is set along a direction perpendicular to the conveying direction of the main conveyor belt, the Z-axis motor is set at the moving end of the Y-axis motion module, the rotary motor is set at the output end of the Z-axis motor, and the grippers are connected to the output end of the rotary motor; The Y-axis motion module is equipped with an encoder, which is electrically connected to the PLC controller and is used to provide feedback on the running position information of the main conveyor belt.

[0010] Preferably, the gripper includes a cylinder mounting post, a gripper, a height limiting separation plate, and an anti-detachment plate; The gripper is wrapped around the end of the cylinder mounting post, and the gripper is provided with reinforcing ribs; The height-limiting separation plate is vertically and flexibly disposed at the front end of the gripper, and the anti-detachment plate is connected between the height-limiting separation plate and the gripper to prevent the height-limiting separation plate from detaching.

[0011] Preferably, the buffer belt group includes a first buffer belt, a second buffer belt, and a third buffer belt, which are arranged sequentially along the feeding direction of the feed belt. The PLC controller is used to control the three buffer belts to sequentially feed feathers to the feed belt according to a set rhythm.

[0012] A method for automatically sorting and arranging feathers is also proposed, applicable to any of the automatically sorting and arranging feather devices described herein, comprising the following steps: S1. Lifting and Dispersing: The lifting and dispersing mechanism separates and disperses the piles of scattered feathers, and evenly spreads them onto the main conveyor belt so that they flow with the conveyor belt. S2. Visual Recognition: Images of feathers flowing on the main conveyor belt are captured by an industrial camera. After image preprocessing, the images are input into a pre-trained recognition model to identify the feather layer type, orientation angle, and position coordinates. S3. Tracking and Grabbing: The PLC controller receives the position coordinate information of the feather and, in conjunction with the running position of the main conveyor belt, controls the three sets of Y-axis motion modules to track the running trajectory of the corresponding feather and complete the grasping of the feather. S4, Buffer Unloading: The Y-axis motion module places the grabbed feathers into the three buffer belts. The PLC controller controls the three buffer belts to transport the feathers to the unloading belts in sequence according to the set rhythm and output them outward.

[0013] Preferably, in step S1, the lifting and dispersing mechanism lifts the feathers by lifting the belt, blocks excessive feathers by feeding brush, and then disperses and discharges the feathers by discharging brush. The PLC controller adjusts the rolling speed of the feeding brush based on the real-time feather quantity information fed back by the vision recognition unit, thereby controlling the flow rate of feathers into the main conveyor belt.

[0014] Preferably, in step S2, the training process of the recognition model includes: Feather samples with different postures and stacking states were collected and labeled in advance. The optimal recognition model was obtained through multiple iterations of training and parameter tuning.

[0015] Preferably, in step S3, the PLC controller obtains the running speed of the main conveyor belt through the encoder of the Y-axis motion module, calculates the real-time position of the feathers through the conveyor belt tracking algorithm, and controls the Y-axis motor, Z-axis motor, and... The shaft rotates in coordination with the motor, driving the gripper to track and grab the feather.

[0016] Preferably, in step S4, the PLC controller sets the optimal conveying cycle time and controls the three buffer belts to sequentially convey feathers to the feed belt, so that the feathers enter the feed belt continuously and without stacking.

[0017] Therefore, the present invention proposes an automatic feather sorting and processing device and method, the beneficial effects of which are as follows: (1) The sorting efficiency of this invention is greatly improved. Compared with the traditional robotic arm solution, the efficiency is improved by improving the dispersing mechanism to achieve uniform feeding of feathers, three sets of Y-axis motion modules track and grab in parallel, and the buffer belt is used to orderly unload in a rhythmic manner. With the help of special grippers, the picking and placing rhythm is improved, ensuring continuous high-speed operation.

[0018] (2) The present invention has good sorting accuracy and stability. It adopts a self-trained feather recognition model, which can accurately identify the feather layer type and direction angle. Combined with the conveyor belt tracking algorithm, it can achieve accurate positioning and grasping, and the sorting consistency is high. It effectively solves the problems of insufficient recognition accuracy and high grasping error rate of traditional solutions.

[0019] (3) The present invention is safe to operate and easy to use. The equipment structure and component design ensure operational safety and avoid the risk of personnel injury. The operation threshold is low, and ordinary workers can get started in a short time. The equipment calibration time is shortened and the production change adjustment is convenient and efficient.

[0020] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall composition of an automatic feather sorting and processing device according to the present invention; Figure 2 This is a schematic diagram of the visual recognition unit arrangement of an automatic feather sorting and sorting device according to the present invention; Figure 3 This is a schematic diagram of the lifting and dispersing mechanism of an automatic feather sorting and sorting device according to the present invention; Figure 4 This is a schematic diagram of the Y-axis motion module structure of an automatic feather sorting and processing device according to the present invention; Figure 5 This is a schematic diagram of the buffer feeding mechanism of an automatic feather sorting and sorting device according to the present invention; Figure 6This is a schematic diagram of the gripper structure of an automatic feather sorting and sorting device according to the present invention; Figure 7 This is a flowchart of an automatic feather sorting and processing method according to the present invention.

[0022] Figure Labels 1. Elevator loading hopper; 2. Elevator belt; 3. Elevator unloading hopper; 4. Elevator unloading brush; 5. Camera light source bracket; 6. Light source; 7. Industrial camera; 8. Y-axis motor; 9. Z-axis motor; 10. 11. Main conveyor belt; 12. Support bracket; 13. Unloading conveyor belt; 14. First buffer belt; 15. Second buffer belt; 16. Third buffer belt; 17. Y-axis motion module; 18. Elevator loading brush; 19. Cylinder mounting column; 20. Gripper; 21. Height limiting separator; 22. Anti-detachment plate. Detailed Implementation

[0023] To make the technical solutions, advantages, and objectives of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below. The described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the protection scope of this application.

[0024] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0025] like Figures 1-6 As shown, the present invention provides an automatic feather sorting and sorting device, including a lifting and dispersing mechanism, a main conveyor belt 11, a vision recognition unit, a PLC controller, three sets of Y-axis motion modules 17, a buffer belt group and a feeding conveyor belt 13. The support bracket 12 serves as the main support for the whole machine, and each functional mechanism is installed on the support bracket 12.

[0026] The lifting and dispersing mechanism is located at the feed end of the main conveyor belt 11 and is used to separate and disperse the piles of scattered feathers and evenly convey them to the main conveyor belt 11.

[0027] The lifting and dispersing mechanism includes a lifting bucket 1, a lifting belt 2, a lifting brush 18, a lifting brush 4, and a lifting bucket 3.

[0028] The elevator belt 2 is arranged at an incline. The elevator hopper 1 is located at the lower feed side of the elevator belt 2 and is used to feed raw material feathers. The elevator feed brush 18 is located at the upper part of the elevator belt 2, with the bristles facing the belt surface of the elevator belt 2. It is used to block excessive feathers and ensure that the amount of feathers in each layer of the belt is uniform. The elevator discharge brush 4 is located at the upper discharge side of the elevator belt 2, and the elevator discharge hopper 3 is correspondingly located at the lower discharge side of the elevator belt 2. The outlet of the elevator discharge hopper 3 corresponds to the feed end of the main conveyor belt 11.

[0029] During operation, feathers enter from the elevator hopper 1 and climb upwards along the elevator belt 2 with horizontal grids. When passing the elevator feeding brush 18, feathers exceeding the thickness of a single layer are brushed off to the lower grid. After the feathers rise to the top with the elevator belt 2, they fall into the elevator discharge brush 4. The PLC controller adjusts the rolling speed of the elevator discharge brush 4 through a PID algorithm based on the real-time feather quantity information fed back by the vision recognition unit, so that the feathers are scattered and fall into the elevator discharge hopper 3, and finally evenly spread onto the main conveyor belt 11 and flow with it.

[0030] The visual recognition unit is mounted above the main conveyor belt 11 via a camera light source bracket 5, and is used to collect and identify the type, posture, and position information of feathers. The visual recognition unit includes a camera light source bracket 5, a light source 6, an industrial camera 7, and a vision processing module.

[0031] The camera light source bracket 5 is positioned above the main conveyor belt 11. The industrial camera 7 is mounted in the middle of the camera light source bracket 5, with its acquisition end facing the surface of the main conveyor belt 11. Two groups of six light sources 6 are positioned on either side of the industrial camera 7 and mounted on the camera light source bracket 5 to provide uniform illumination for the image acquisition area. The vision processing module is communicatively connected to the industrial camera 7.

[0032] During operation, the industrial camera 7 captures real-time images of feathers flowing on the main conveyor belt 11 and transmits them to the vision processing module. The vision processing module first preprocesses the images and extracts the effective areas. Then, it uses a pre-trained recognition model to identify and measure the feather layer type, orientation, and angle to obtain the position coordinate information of the feathers that meet the requirements. This coordinate information is then sent to the PLC controller. The recognition model is obtained by pre-collecting and labeling feather samples with different postures and layer states, and through multiple iterations of training and parameter tuning optimization.

[0033] Three sets of Y-axis motion modules 17 are arranged sequentially along the conveying direction of the main conveyor belt 11 on the side of the main conveyor belt 11, used to track and grasp target feathers on the main conveyor belt 11. Each set of Y-axis motion modules 17 includes a Y-axis motor 8, a Z-axis motor 9, and a... Shaft rotation motor 10 and gripper.

[0034] The Y-axis motor 8 is arranged in a direction perpendicular to the conveying direction of the main conveyor belt 11, forming a lateral movement drive; the Z-axis motor 9 is located at the moving end of the Y-axis motion module 17 and is driven by the Y-axis motor 8 to move laterally reciprocally. The Z-axis rotary motor 10 is located at the output end of the Z-axis motor 9 and is driven by the Z-axis motor 9 to move vertically; the gripper is connected to the output end of the Z-axis rotary motor 10 and is driven by the Z-axis rotary motor 10 to rotate around the vertical axis.

[0035] The Y-axis motion module 17 is equipped with an encoder, which is electrically connected to the PLC controller to provide feedback on the running speed and position information of the main conveyor belt 11.

[0036] During operation, the PLC controller receives the position coordinates of the feathers and, combined with the encoder feedback on the running position of the main conveyor belt 11, calculates the real-time position of the feathers using a conveyor belt tracking algorithm, thereby controlling the Y-axis motor 8, Z-axis motor 9, and... The shaft rotation motor 10 works in tandem to drive the gripper to track the trajectory of the feather, and after adjusting to the corresponding position and angle, the feather is grasped.

[0037] The gripper includes a cylinder mounting post 19, a gripper 20, a height limiting separation plate 21, and an anti-detachment plate 22. The cylinder mounting post 19 is connected to the output end of the shaft rotation motor 10. The gripper 20 is mounted on the end of the cylinder mounting post 19. The gripper 20 is provided with reinforcing ribs and is made of double-layer material to ensure gripping strength and prevent loosening when gripping hair.

[0038] The height-limiting separation plate 21 is vertically and flexibly disposed at the front end of the gripper 20, and the anti-detachment plate 22 is connected between the height-limiting separation plate 21 and the gripper 20 to prevent the height-limiting separation plate 21 from detaching.

[0039] When grasping feathers, the height-limiting separation plate 21 falls down, limiting the height of the feathers and allowing the gripper 20 to stably grasp the feathers that are raised high. When releasing feathers, the height-limiting separation plate 21 falls down, accelerating the separation of the feathers from the gripper 20, allowing the gripper to quickly switch to the next grasping action and improving the overall work rhythm.

[0040] The buffer belt assembly is located on the discharge side of the Y-axis motion module 17 and is used to temporarily store and orderly transport feathers. The buffer belt assembly includes a first buffer belt 14, a second buffer belt 15, and a third buffer belt 16, which are arranged sequentially along the feeding direction of the unloading conveyor belt 13. The feeding ends of the three buffer belts correspond to the unloading positions of the three Y-axis motion modules 17, respectively.

[0041] The feeding end of the feeding conveyor belt 13 is set to correspond to the discharge end of the three buffer belts, which is used to receive the feathers output by the buffer belts and transport them outward.

[0042] During operation, the three sets of Y-axis motion modules 17 place the captured feathers into the first buffer belt 14, the second buffer belt 15, and the third buffer belt 16 respectively. The PLC controller sets the optimal conveying cycle and controls the three buffer belts to convey the feathers to the feed conveyor belt 13 in the prescribed order, ensuring that the feathers do not overlap or fall into empty spaces, and enter the feed conveyor belt 13 continuously with the highest efficiency, and finally flow into the inlet of the subsequent visual sorting equipment.

[0043] like Figure 7 As shown, the automatic feather sorting and processing method of the present invention operates as follows: (1) Lifting and dispersing stage: The pile of scattered feathers is put into the upper hopper 1 of the elevator. The feathers are driven upward by the elevator belt 2. After being quantitatively blocked by the upper brush 18 of the elevator and dispersed by the lower brush 4 of the elevator, they are evenly spread onto the main conveyor belt 11 and flow with the belt. The PLC controller adjusts the rotation speed of the lower brush 4 of the elevator through the PID algorithm according to the real-time feather quantity feedback from the vision recognition unit, and controls the flow rate of feathers entering the main conveyor belt 11.

[0044] (2) Visual recognition stage: The industrial camera 7 collects images of feathers on the main conveyor belt 11 in real time. After image preprocessing, the images are input into the pre-trained recognition model to identify the feather layer type, direction angle and position coordinates, and transmit the information to the PLC controller.

[0045] (3) Tracking and grasping stage: The PLC controller combines the feather coordinates with the running position of the main conveyor belt 11, calculates the real-time trajectory of the feather through the conveyor belt tracking algorithm, controls the three sets of Y-axis motion modules 17 to track the corresponding feathers respectively, and drives the gripper to complete the precise grasping.

[0046] (4) Buffer feeding stage: The Y-axis motion module 17 puts the grabbed feathers into the three buffer belts. The PLC controller controls the three buffer belts to feed the feathers to the feed conveyor belt 13 in sequence according to the set rhythm, so that the feathers are continuously and non-stackingly output to the outside.

[0047] Therefore, this invention provides an automated feather sorting and processing device and method, solving the industry pain points of low efficiency, high labor costs, difficulty in recruiting workers, and inconsistent sorting standards in traditional manual sorting. It also overcomes the technical shortcomings of existing robot vision solutions, such as high safety risks, low recognition and grasping accuracy, complex equipment debugging and calibration, and poor usability. This invention achieves uniform feather feeding by improving the dispersing mechanism, combining intelligent visual recognition and conveyor belt tracking and grasping algorithms with a multi-buffered, cycle-based feeding structure to achieve high-speed, precise, and automated feather sorting. Overall sorting efficiency is improved compared to traditional robotic arm solutions. The equipment is easy to operate, has short calibration time, effectively reduces enterprise labor costs, improves production efficiency and product consistency, and is suitable for the industry's large-scale production needs.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An automatic feather sorting and processing device, characterized in that, include: Main conveyor belt; The lifting and dispersing mechanism has its discharge end located at the feed end of the main conveyor belt, which is used to separate the scattered feathers and evenly convey them to the main conveyor belt. The visual recognition unit includes an industrial camera, a light source, and a visual processing module. The industrial camera and the light source are mounted above the main conveyor belt via a camera-light source bracket. The visual processing module is communicatively connected to the industrial camera and is used to acquire feather images and identify the type, posture, and position information of the feathers. The PLC controller is electrically connected to the lifting and dispersing mechanism, the vision processing module, the Y-axis motion module, the buffer belt group, and the unloading belt, respectively. Three sets of Y-axis motion modules are arranged sequentially on the side of the main conveyor belt along the conveying direction of the main conveyor belt; The buffer belt assembly includes three buffer belts, with the feed ends of the three buffer belts corresponding to the feeding positions of the three sets of Y-axis motion modules, respectively. The feeding belt has its inlet end corresponding to the outlet end of the three buffer belts, and is used to receive the feathers output by the buffer belts and transport them outward.

2. The automatic feather sorting and processing device according to claim 1, characterized in that, The lifting and dispersing mechanism includes a lifting machine hopper, a lifting machine belt, a lifting machine feeding brush, a lifting machine discharging brush, and a lifting machine discharging hopper; The elevator belt is arranged at an incline, the elevator hopper is located at the lower end of the elevator belt on the feeding side, and the elevator feeding brush is located at the upper part of the elevator belt to block excessive feathers. The elevator discharge brush is located on the upper discharge side of the elevator belt, the elevator discharge bucket is located on the lower discharge side of the elevator belt, and the outlet of the elevator discharge bucket corresponds to the feed end of the main conveyor belt.

3. The automatic feather sorting and processing device according to claim 1, characterized in that, Each Y-axis motion module includes a Y-axis motor and a Z-axis motor. A rotary motor and grippers are used to track and grab feathers on the main conveyor belt; the Y-axis motor is set along a direction perpendicular to the conveying direction of the main conveyor belt, the Z-axis motor is set at the moving end of the Y-axis motion module, the rotary motor is set at the output end of the Z-axis motor, and the grippers are connected to the output end of the rotary motor; The Y-axis motion module is equipped with an encoder, which is electrically connected to the PLC controller and is used to provide feedback on the running position information of the main conveyor belt.

4. The automatic feather sorting and processing device according to claim 1, characterized in that, The gripper includes a cylinder mounting post, grippers, a height limiting separation plate, and an anti-detachment plate; The gripper is wrapped around the end of the cylinder mounting post, and the gripper is provided with reinforcing ribs; The height-limiting separation plate is vertically and flexibly disposed at the front end of the gripper, and the anti-detachment plate is connected between the height-limiting separation plate and the gripper to prevent the height-limiting separation plate from detaching.

5. The automatic feather sorting and processing device according to claim 1, characterized in that, The buffer belt group includes a first buffer belt, a second buffer belt, and a third buffer belt, which are arranged sequentially along the feeding direction of the feed belt. The PLC controller is used to control the three buffer belts to feed feathers to the feed belt sequentially according to a set rhythm.

6. An automatic feather sorting and sorting method, applied to the automatic feather sorting and sorting device according to any one of claims 1-5, characterized in that, Includes the following steps: S1. Lifting and Dispersing: The lifting and dispersing mechanism separates and disperses the piles of scattered feathers, and evenly spreads them onto the main conveyor belt so that they flow with the conveyor belt. S2. Visual Recognition: Images of feathers flowing on the main conveyor belt are captured by an industrial camera. After image preprocessing, the images are input into a pre-trained recognition model to identify the feather layer type, orientation angle, and position coordinates. S3. Tracking and Grabbing: The PLC controller receives the position coordinate information of the feather and, in conjunction with the running position of the main conveyor belt, controls the three sets of Y-axis motion modules to track the running trajectory of the corresponding feather and complete the grasping of the feather. S4, Buffer Unloading: The Y-axis motion module places the grabbed feathers into the three buffer belts. The PLC controller controls the three buffer belts to transport the feathers to the unloading belts in sequence according to the set rhythm and output them outward.

7. The automatic feather sorting and processing method according to claim 6, characterized in that, In S1, the lifting and dispersing mechanism lifts the feathers by lifting belt, blocks excessive feathers by feeding brush, and then disperses and discharges the feathers by discharging brush. The PLC controller adjusts the rolling speed of the feeding brush based on the real-time feather quantity information fed back by the vision recognition unit, thereby controlling the flow rate of feathers into the main conveyor belt.

8. The automatic feather sorting and processing method according to claim 6, characterized in that, In S2, the training process of the recognition model includes: Feather samples with different postures and stacking states were collected and labeled in advance. The optimal recognition model was obtained through multiple iterations of training and parameter tuning.

9. The automatic feather sorting and processing method according to claim 6, characterized in that, In step S3, the PLC controller obtains the running speed of the main conveyor belt through the encoder of the Y-axis motion module, calculates the real-time position of the feathers through the conveyor belt tracking algorithm, and controls the Y-axis motor, Z-axis motor, and... The shaft rotates in coordination with the motor, driving the gripper to track and grab the feather.

10. The automatic feather sorting and processing method according to claim 6, characterized in that, In step S4, the PLC controller sets the optimal conveying cycle time and controls the three buffer belts to sequentially convey feathers to the feed belt, so that the feathers enter the feed belt continuously and without stacking.

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